Power assist method based on phase sequence driven by interaction between human and robot suit
Power assist method based on phase sequence driven by interaction between human and robot suit
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DOI：
10.1109/roman.2004.1374809
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发表时间：
2004-09
期刊：
影响因子：
--
通讯作者：
H. Kawamoto;Y. Sankai
中科院分区：
文献类型：
--
作者：
H. Kawamoto;Y. Sankai
提出了一种基于人与机器人套装HAL（混合辅助肢体）相互作用驱动的自主运动的腿部助力方法，并在行走实验中验证了该方法的有效性。为了自主完成行走任务，我们使用了相序列控制，通过传递一些简单的基本运动来生成任务，称为相位。一项任务在正常人完成任务的基础上被分成了几个阶段。根据肌肉受力情况的特点，将关节运动方式分为主动、被动和自由三种。根据分类模式中的一种，设计了HAL在每个阶段产生的自主运动。以底板反力和节理角度为条件，对各阶段进行了过渡。动力辅助实验以正常人为对象进行。实验结果表明，各阶段肌肉激活水平明显降低。由此，我们证实了所提出的辅助方法的有效性。
We proposed a power assist method for leg based on the autonomous motion driven by the interaction between human and the robot suit, HAL (hybrid assistive limb) and verified the effectiveness of this method in the experiments in walking. In order to perform walking task autonomically, we used a phase sequence control which generates a task by transiting some simple basic motions called phase. A task was divided into some phases on the basis of the task performed by a normal person. The joint moving modes were categorized into the active, passive and free modes according to the characteristic of the muscle force conditions. The autonomous motion which HAL generates in each phases were designed according to one of the categorized modes. The floor reaction force and joint angle were adopted as the condition to transit each phase. The experiments in power assist were performed for normal person. The experimental results showed that the muscle activation levels in each phase were significantly reduced. With this, we confirmed the effectiveness of the proposed assist method.